During the years, various numerical techniques have been explored to solve different positioning scenarios. In some situations, a closed form solution is possible [1]}, [2]}. Several iterative algorithms, based on minimizing some loss function, have also been widely explored [3]}, [4]}, [5]}. As the positioning problems described usually can be formulated as systems of polynomial equations, more recently, approaches based on algebraic geometry have also been proposed [6]}, [7]}, [8]}, [9]}.
